// Copyright (c) 2012, Hazen Eckert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the The University of Texas at Dallas nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE UNIVERSITY OF TEXAS AT DALLAS BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef _auv_driver_node_H
#define _auv_driver_node_H

#include <ros/ros.h>
#include <auv_driver_common/auv_driver.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <dynamic_reconfigure/server.h>

class auv_driver_node {
public:
		typedef char state_t;
		static const state_t CLOSED = 0;
		static const state_t OPENED = 1;
		static const state_t RUNNING = 2;
    auv_driver_node(ros::NodeHandle h);
    ~auv_driver_node();
    //void reconfigureCallback(auv_driver_common::auvConfig &config, uint32_t level);
    void update_basic_diagnostics(diagnostic_updater::DiagnosticStatusWrapper &stat);
    void update_standard_diagnostics(diagnostic_updater::DiagnosticStatusWrapper &stat);
    void spinOnce();
    
protected:
    ros::NodeHandle nh;
    ros::NodeHandle private_nh;
    diagnostic_updater::Updater updater;
    //dynamic_reconfigure::Server<auv_driver_common::auvConfig> server;
    auv_driver *driver;
    std::string port;
    state_t state;
    void getDriverInfo();
    std::string getProcessorType();
    std::string getSoftwareVersion();
    std::string getProcessorDescription();
    std::string getBoardFunction();
    std::string getSerialNumber();
    std::string getBoardDescription();
    std::string getBoardStatus();
    int getMaxPayload();
    float getBoardVoltage();
    float getBoardCurrent();
    std::string processorType;
    std::string softwareVersion;
    std::string processorDescription;
    std::string boardFunction;
    std::string serialNumber;
    std::string boardDescription;
    std::string boardStatus;
    int maxPayload;
    float boardVoltage;
    float boardCurrent;
    
};

#endif
